LidarSpi.h

00001 #ifndef LIDARSPI_H
00002 #define LIDARSPI_H
00003 
00004 #include "mbed.h"
00005 #include "typeDef.h"
00006 #include "FunctionPointer.h"
00007 
00008 /**  LidarSpi class
00009  *   This class defines methods and structs to interface with the MLX75320 lidar sensing product
00010  *
00011  */
00012 
00013 class LidarSpi
00014 {
00015     public:
00016         
00017         // Type used to read/write register values. Here, it is 16 bits
00018         typedef uint16_t REGTYPE;
00019         typedef unsigned char uchar;
00020         
00021         static const uint16_t CRC_SZ   = 2;   // Bytes in SPI CRC field
00022         static const uint16_t SHORT_SZ = 8;   // Bytes in short SPI packet
00023         static const uint16_t LONG_SZ  = 300; // Bytes in long SPI packet
00024         static const uint16_t HDR_SZ   = 2;   // Bytes in SPI header field
00025     
00026         static const uint16_t MAXCH     = 16;  // Number of channels
00027         static const uint16_t MAXSET    = 2;   // Number of acquisition sets
00028         static const uint16_t MAXPTCNT  = 64;  // Max number of base points
00029         static const uint16_t MAXECH    = 64 ; // Max echo count
00030         static const uint16_t MAXACCLOG = 10;  // Max accumulation log2
00031         static const uint16_t MAXOVRLOG = 3;   // Max oversampling log2
00032         static const uint16_t MAXLED    = 16;  // Max LED power
00033         static const uint16_t MAXACC    = 1<<MAXACCLOG;
00034         static const uint16_t MAXOVR    = 1<<MAXOVRLOG;
00035         static const uint16_t MAXTRCLEN = 74*8*MAXCH*2;  // Max length of a trace in bytes (samples * MAXOVR * MAXCH * 2bytes)
00036         static const uint16_t BYTES_PER_ECH = 24; // Nb of bytes per echo
00037         static const uint16_t START_DELAY =10;
00038     
00039         // Used on header ADDR field to request all channels and as idx argument of GetTrace function
00040         static const uint16_t ADDR_ALLCH= 0x1F;
00041         
00042         
00043         // Structure for the processed data returned by the sensor
00044         struct Echo
00045         {
00046             uint32_t mDistance;
00047             uint32_t mAmplitude;
00048             uint32_t mBase;
00049             uint16_t mMaxIndex;
00050             uint8_t   mChannelIndex;
00051             uint8_t   mValid;
00052             uint32_t mAmplitudeLowScale;
00053             uint32_t mSaturationWidth;
00054         };
00055     
00056         /// \enum  eASICREG
00057         /// \brief Lists all registers. Enum value is directly the register address.
00058         ///        Naming convention: REG_ + <name> + <L/H> + <#>
00059         ///        <name> = name of register
00060         ///        <L/H>  = optional low or high register part
00061         ///        <#>    = optional number, either for acquisition source 0/1 or index
00062         typedef enum
00063         {
00064             REG_MEACL = 0x00,
00065             REG_MEACH,
00066             REG_CONTROL,
00067             REG_ACQCTL0,
00068             REG_ACQCTL1,
00069             REG_PTCNT,
00070             REG_SCANCTL,
00071             REG_TRIGCTL,
00072             REG_DELAY,
00073             REG_TMPSET,
00074             REG_TMPSHUT,
00075             REG_TMPIC,
00076             REG_TMPSRC,
00077             REG_GAIN0,
00078             REG_GAIN1,
00079             REG_GAIN2,
00080             REG_GAIN3,
00081             REG_CHANNEL,
00082             REG_PWMPERIOD0,
00083             REG_PWMPERIOD1,
00084             REG_PWMCOUNT,
00085             REG_PWMWIDTH0,
00086             REG_PWMWIDTH1   = REG_PWMWIDTH0 + 8,
00087             REG_FILTER0     = REG_PWMWIDTH1 + 8,
00088             REG_FILTER1     = REG_FILTER0   + 16,
00089             REG_THRNEARL0   = REG_FILTER1   + 16,
00090             REG_THRNEARH0,
00091             REG_THRMEDL0,
00092             REG_THRMEDH0,
00093             REG_THRFARL0,
00094             REG_THRFARH0,
00095             REG_THRNEARL1,
00096             REG_THRNEARH1,
00097             REG_THRMEDL1,
00098             REG_THRMEDH1,
00099             REG_THRFARL1,
00100             REG_THRFARH1,
00101             REG_NOISE0,
00102             REG_NOISE1,
00103             REG_OFFSETL0,
00104             REG_OFFSETH0 = REG_OFFSETL0 + 16,
00105             REG_OFFSETL1 = REG_OFFSETH0 + 16,
00106             REG_OFFSETH1 = REG_OFFSETL1 + 16,
00107             REG_SCALEL0  = REG_OFFSETH1 + 16,
00108             REG_SCALEH0,
00109             REG_SCALEL1,
00110             REG_SCALEH1,
00111             REG_FACTORY,
00112             REG_ASIL,
00113             REG_OTP0,
00114             REG_OTP1,
00115             REG_OTP2,
00116             REG_OTP3,
00117             REG_OTP4,
00118             REG_OTP5,
00119             REG_OTP6,
00120             REG_OTP7,
00121             REG_SOFTVER,
00122             REG_ASICVER,
00123             REG_WATCHDOGL,
00124             REG_WATCHDOGH,
00125             // Wai: Changed from REG_MAX
00126             REG_MAX    =   0xFFFF   // Number of registers
00127         } eASICREG;
00128     
00129         //Internal type used by low level functions: SPI packet type
00130         enum PackType 
00131         {
00132             PACK_RREG = 0,      ///< Read register request
00133             PACK_WREG,          ///< Write register request
00134             PACK_RFIRM,         ///< Read firmware request
00135             PACK_WFIRM,         ///< Write firmware request
00136             PACK_STATUS_S,      ///< Status short
00137             PACK_STATUS_L,      ///< Status long
00138             PACK_RDATA_RESP_S,  ///< Read data response short
00139             PACK_RDATA_RESP_L,  ///< Read data response long
00140             PACK_WDATA_L,       ///< Write data long
00141         };
00142         //Internal type used by low level functions: SPI status status type
00143         enum StatusType
00144         {
00145             STAT_OK = 0,
00146             STAT_BUSY,
00147             STAT_CRC,
00148             STAT_INVALID_REQ,
00149             STAT_SEQ_NB,
00150             STAT_TIMEOUT,
00151         };
00152         //Internal type used by low level functions: SPI firmware packet type
00153         enum FirmType
00154         {
00155             FW_OTP = 0,
00156             FW_PROCESSED,
00157             FW_RAW,
00158             FW_PATCH,
00159             FW_PRELOAD,
00160             FW_TEST,
00161         };
00162     
00163     
00164     
00165 /*=====================================================================================================================================    
00166 //=====================================================================================================================================   
00167   _____       _     _ _         __                  _   _                 
00168  |  __ \     | |   | (_)       / _|                | | (_)                
00169  | |__) |   _| |__ | |_  ___  | |_ _   _ _ __   ___| |_ _  ___  _ __  ___ 
00170  |  ___/ | | | '_ \| | |/ __| |  _| | | | '_ \ / __| __| |/ _ \| '_ \/ __|
00171  | |   | |_| | |_) | | | (__  | | | |_| | | | | (__| |_| | (_) | | | \__ \
00172  |_|    \__,_|_.__/|_|_|\___| |_|  \__,_|_| |_|\___|\__|_|\___/|_| |_|___/
00173                                                                       
00174 //=====================================================================================================================================   
00175 //====================================================================================================================================*/       
00176     
00177     
00178         /** Constructor
00179         * @param: pin names for mosi, miso, clk, chipselect, dataready, reset, trigger and sample*/        
00180         LidarSpi(PinName mosi, PinName miso, PinName clk, PinName chipSelect, PinName dr, PinName rs, PinName tr, PinName smpl);
00181         
00182         /** SpiSetting
00183         * Change frequency and SPI mode(clock phase and polarity)
00184         * @param: frequency in Hz, mode ranging from 0 to 3, pointer to Serial interface for debugging
00185         * @return: 0 on success        */
00186         int SpiSetting(long freq, int mode, Serial* pc);
00187         
00188         /** ReadReg
00189         * Read register at address
00190         * @param: register address, pointer to variable to register valueresult
00191         * @return: 0 on success        */
00192         int ReadReg   ( uint32_t reg, uint32_t *val);
00193         
00194         /** WriteReg
00195         * Write register to address
00196         * @param: register address, value to write
00197         * @return: 0 on success        */
00198         int WriteReg  ( uint32_t reg, uint32_t val);
00199         
00200                 
00201         /** GetEchoes
00202         * Perform measurement and read processed data
00203         * @param: pointer to Echo structure array to store measurement, structure array size (must be >=64)
00204         * @return: 0 on success        */
00205         int GetEchoes ( Echo *ech, uint16_t maxN);
00206         
00207         /** GetEchoes
00208         * Perform measurement and read processed data
00209         * @param: pointer to Echo structure array to store measurement, structure array size (must be >=64), pointer to serial interface for debugging
00210         * @return: 0 on success        */
00211         int GetEchoes ( Echo *ech, uint16_t maxN, Serial* pc);
00212         
00213         /** GetTrace
00214         * Perform measurement and read raw trace buffer
00215         * @param: pointer to int array to store trace buffer, structure array size (must be >=9472*2), pointer to serial interface for debugging
00216         * @return: 0 on success        */
00217         int GetTrace  ( uint16_t *buf, uint16_t maxN, Serial* pc);
00218         
00219         /** LoadPatch
00220         * Load patch stored on mbed Flash memory in MLX75320 and enable patch
00221         * @param: path of patch.hex location, , pointer to serial interface for debugging
00222         * @return: 0 on success       */
00223         int LoadPatch (const char *patch, Serial *pc);
00224         
00225         /** SetTrace
00226         * Set a variety of registers according to the preset values for a raw data measurement
00227         * @return: 0 on success       */
00228         int setTrace(void);
00229         
00230         /** SetTrace
00231         * Set a variety of registers according to the preset values for a processed data measurement
00232         * @return: 0 on success       */
00233         int setEcho(void);
00234         
00235         /** SetLed
00236         * Set a variety of registers according to the preset values to either fire or don't fire the LEDs during a measurement
00237         * @param: True to enable LEDs, False to disable       */
00238         int setLed(bool state);
00239         
00240         
00241 /*=====================================================================================================================================    
00242 //=====================================================================================================================================   
00243   _____       _                        _                    _      _                       _                __                  _   _                 
00244  |_   _|     | |                      | |                  | |    | |                     (_)              / _|                | | (_)                
00245    | |  _ __ | |_ ___ _ __ _ __   __ _| |   ___  _ __    __| | ___| |__  _   _  __ _  __ _ _ _ __   __ _  | |_ _   _ _ __   ___| |_ _  ___  _ __  ___ 
00246    | | | '_ \| __/ _ \ '__| '_ \ / _` | |  / _ \| '__|  / _` |/ _ \ '_ \| | | |/ _` |/ _` | | '_ \ / _` | |  _| | | | '_ \ / __| __| |/ _ \| '_ \/ __|
00247   _| |_| | | | ||  __/ |  | | | | (_| | | | (_) | |    | (_| |  __/ |_) | |_| | (_| | (_| | | | | | (_| | | | | |_| | | | | (__| |_| | (_) | | | \__ \
00248  |_____|_| |_|\__\___|_|  |_| |_|\__,_|_|  \___/|_|     \__,_|\___|_.__/ \__,_|\__, |\__, |_|_| |_|\__, | |_|  \__,_|_| |_|\___|\__|_|\___/|_| |_|___/
00249                                                                                 __/ | __/ |         __/ |                                             
00250                                                                                |___/ |___/         |___/                                             
00251 //=====================================================================================================================================   
00252 //====================================================================================================================================*/    
00253         
00254         
00255         
00256         /** ReadReg (overloaded)
00257         * Read register at address
00258         * @param: register address, pointer to variable to register valueresult, pointer to serial interface for debugging
00259         * @return: 0 on success        */
00260         int ReadReg(uint32_t reg, uint32_t *val, Serial* pc);
00261         
00262         /** WriteReg
00263         * Write register to address
00264         * @param: register address, value to write, pointer to serial interface for debugging
00265         * @return: 0 on success        */
00266         int WriteReg  ( uint32_t reg, uint32_t val, Serial* pc);
00267         
00268         /** GetTraceOne
00269         * Perform measurement and read raw trace buffer, this method only reads back a single SPI packet
00270         * @param: pointer to int array to store trace buffer, structure array size (must be >=9472*2), pointer to serial interface for debugging
00271         * @return: 0 on success        */
00272         int GetTraceOne  ( uint16_t *buf, uint16_t maxN, uint16_t nSam, uint16_t idx,int index , Serial* pc);
00273         
00274         /** Trigger
00275         * Change pin to high or low to use as trigger point for oscilloscope
00276         * @param: 1 or 0 to set voltage level   */
00277         void Trigger(int level);
00278         
00279         
00280         int PrintAllReg (uint16_t * regs, uint32_t * val, uint16_t size);
00281         
00282         int TxPacket(uint8_t* rData, uint16_t *rSz, uint8_t *tData, uint16_t tSz);   
00283         int TxPacketWord(uint8_t* rData, uint16_t *rSz, uint8_t *tData, uint16_t tSz);   
00284         int TxPacket(uint8_t* rData, uint16_t *rSz, uint8_t *tData, uint16_t tSz, Serial* pc);   
00285         int TxPacketSlow(uint8_t* rData, uint16_t *rSz, uint8_t *tData, uint16_t tSz, uint16_t usDelay);
00286         int BasicRead();
00287         int BasicTransfer(uint8_t* rData, uint16_t rSz, uint8_t *wData, uint16_t wSz, const event_callback_t callback);
00288         int WriteRegSpeed  ( uint32_t reg, uint32_t val, uint16_t usDelay);
00289         int WriteRegSpeed  ( uint32_t reg, uint32_t val, uint16_t usDelay, Serial* pc);
00290         
00291         //int SetConfig ( int configNum);
00292         //int SetAcqCfg ( uint16_t set, uint16_t led, uint16_t accLog, uint16_t ovrLog);
00293         //int Acquire   ( uchar ab, uchar evGain, uchar evCh, uchar odGain, uchar odCh);
00294         //int GetFrame  ( uint16_t *buf, uint16_t maxN, uint16_t nSam, uint16_t nFrm);
00295         
00296     
00297         
00298         
00299     private:
00300         SPI device;
00301         DigitalOut chipS;
00302         DigitalIn dataReady;
00303         DigitalOut resetPin;
00304         DigitalOut trigger;
00305         DigitalIn sampling;
00306         
00307         int parse_hex_line(char *theline, uint8_t bytes[], uint16_t *addr, uint16_t *num, uint16_t *code);
00308         int LoadPatchFragment(const char *patch, uint16_t *addrStart, uint16_t *startLine, uint16_t *nBytes, uint8_t *memory, Serial* pc);
00309 
00310           
00311 };
00312 
00313 
00314 #endif